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- W2108207949 abstract "The kinematically decoupled joint space decomposition (KD-JSD) is proposed as a systematic method for synthesis of dynamic control of kinematically redundant manipulators. The method leads to a proper control for direct specification and control of the self-motion of kinematically redundant manipulators, as well as the task motion. To cover various possibilities in specifying desired self-motion behaviors the conventional gradient projection method and task priority based method are reformulated within the framework of the KD-JSD. The validity of the proposed control method is shown experimentally adopting a three degrees-of-freedom direct-drive planar redundant manipulator." @default.
- W2108207949 created "2016-06-24" @default.
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- W2108207949 date "2002-11-07" @default.
- W2108207949 modified "2023-09-26" @default.
- W2108207949 title "Unified motion specification and control of kinematically redundant manipulators" @default.
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- W2108207949 doi "https://doi.org/10.1109/robot.2000.845346" @default.
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